In recent years, multi-rotor UAVs have become valuable tools in several productive fields, from entertainment to agriculture and security. However, during their flight trajectory, they sometimes do not accurately perform a specific set of tasks, and the implementation of flight controllers in these vehicles is required to achieve a successful performance. Therefore, this research describes the design of a flight position controller based on Deep Neural Networks and subsequent implementation for a multi-rotor UAV. Five promising Neural Network architectures are developed based on a thorough literature review, incorporating LSTM, 1-D convolutional, pooling, and fully-connected layers. A dataset is then constructed using the performance data of a PID flight controller, encompassing diverse trajectories with transient and steady-state information such as position, speed, acceleration, and motor output signals. The tuning of hyperparameters for each type of architecture is performed by applying the Hyperband algorithm. The best model obtained (LSTMCNN) consists of a combination of LSTM and CNN layers in one dimension. This architecture is compared with the PID flight controller in different scenarios employing evaluation metrics such as rise time, overshoot, steady-state error, and control effort. The findings reveal that our best models demonstrate the successful generalization of flight control tasks. While our best model is able to work with a wider operational range than the PID controller and offers step responses in the Y and X axis with 97% and 98% similarity, respectively, within the PID’s operational range. This outcome opens up possibilities for efficient online training of flight controllers based on Neural Networks, enabling the development of adaptable controllers tailored to specific application domains.
No abstract
This research is proposed a design of architecture for melanoma (a kind of skin cancer) recognition by using a Convolutional Neural Network (CNN), work that will be useful for researchers in future projects in areas like biomedicine, machine learning, and others related moving forward with their studies and improving this proposal. CNN is mostly used in computer vision (a branch of artificial intelligence), applied to pattern recognition in skin moles and to determine the existence of malignant melanoma, or not, with a limited dataset. The CNN classifier designed and trained in this case was built through a couple of layers of convolution and pooling stacked to form a neural network of 6 layers followed by the fully connected to complete the architecture with an output classifier. The proposed database to train our CNN is the largest publicly collection of dermoscopic images of melanomas and other skin lesions, provided by the International Skin Imaging Collaboration (ISIC), sponsored by International Society for Digital Imaging of the Skin (ISDIS), an international effort to improve melanoma diagnosis. The purpose of this research was to design a Convolutional Neural Network with a high level of accuracy to help professionals in medicine with a melanoma diagnosis, in this case, it was possible to get accuracy up to 88.75 %.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.